A Stiffness-Fault-Tolerant Control Strategy for Reliable Physical Human-Robot Interaction
Stuhlenmiller F, Perner G, Rinderknecht S, Beckerle P (2019)
Publication Type: Conference contribution
Publication year: 2019
Publisher: Springer Science and Business Media B.V.
Book Volume: 7
Pages Range: 3-14
Conference Proceedings Title: Springer Proceedings in Advanced Robotics
DOI: 10.1007/978-3-319-89327-3_1
Abstract
Elastic actuators allow to specify the characteristics of physical human-robot interactions and increase the intrinsic safety for the human. To ensure the reliability of the interaction, this paper investigates detection and compensation of stiffness faults. A recursive least squares algorithms is used to detect faults and obtain an estimation of the actual stiffness value online. An adaptation law based on the estimation is proposed to adjust parameters of an impedance control to maintain a desired interaction stiffness. A simulation of an exemplary elastic actuator shows that the developed stiffness-fault-tolerant control strategy achieves a dependable human-robot interaction.
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Germany (DE)How to cite
APA:
Stuhlenmiller, F., Perner, G., Rinderknecht, S., & Beckerle, P. (2019). A Stiffness-Fault-Tolerant Control Strategy for Reliable Physical Human-Robot Interaction. In Springer Proceedings in Advanced Robotics (pp. 3-14). Springer Science and Business Media B.V..
MLA:
Stuhlenmiller, Florian, et al. "A Stiffness-Fault-Tolerant Control Strategy for Reliable Physical Human-Robot Interaction." Proceedings of the Springer Proceedings in Advanced Robotics Springer Science and Business Media B.V., 2019. 3-14.
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